// --------------------------------------------------------------------------------------------------------------------
// <copyright file="SetJointVelocityPIDGainsMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Microsoft.Robotics.Manipulation.Runtime.MotionControl
{
    using System;
    using System.Collections.Generic;
    using System.Collections.ObjectModel;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Manipulation;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Message initiating a trajectory based motion
    /// </summary>
    [DataContract]
    public class SetJointVelocityPIDGainsMessage : AgentMessage
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="SetJointVelocityPIDGainsMessage"/> class.
        /// </summary>
        /// <param name="originatingTime"> Originating time of message. </param>
        /// <param name="p">P gain.</param>
        /// <param name="i">I gain.</param>
        /// <param name="d">D gain.</param>
        /// <param name="jointNumber"> Number of joint to change parameter of. </param>
        /// <param name="deadband"> 
        /// Controller deadband.  Control actions for joint "i" will be zero for 
        /// error values between -deadband[i] and +deadband[i].
        /// </param>
        /// <param name="maxDelta"> Maximum change in output on a single control cycle. </param>
        public SetJointVelocityPIDGainsMessage(
            long originatingTime,
            double p,
            double i,
            double d,
            int jointNumber,
            double deadband = 0,
            double maxDelta = 0)
            : base(originatingTime)
        {
            this.P = p;
            this.I = i;
            this.D = d;
            this.Deadband = deadband;
            this.MaxDelta = maxDelta;
            this.JointNumber = jointNumber;
        } 

        /// <summary>
        /// Gets P gain
        /// </summary>
        [DataMember]
        public double P { get; private set; }

        /// <summary>
        /// Gets I gain
        /// </summary>
        [DataMember]
        public double I { get; private set; }

        /// <summary>
        /// Gets D gain
        /// </summary>
        [DataMember]
        public double D { get; private set; }

        /// <summary>
        /// Gets deadband
        /// </summary>
        [DataMember]
        public double Deadband { get; private set; }

        /// <summary>
        /// Gets max delta
        /// </summary>
        [DataMember]
        public double MaxDelta { get; private set; }

        /// <summary>
        /// Gets the joint number
        /// </summary>
        [DataMember]
        public int JointNumber { get; private set; }
    }
}
